CN114953548A - Tire mold cleaning method, system and storage medium - Google Patents
Tire mold cleaning method, system and storage medium Download PDFInfo
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- B29D—PRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE
- B29D30/00—Producing pneumatic or solid tyres or parts thereof
- B29D30/06—Pneumatic tyres or parts thereof (e.g. produced by casting, moulding, compression moulding, injection moulding, centrifugal casting)
- B29D30/0601—Vulcanising tyres; Vulcanising presses for tyres
- B29D30/0662—Accessories, details or auxiliary operations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29D—PRODUCING PARTICULAR ARTICLES FROM PLASTICS OR FROM SUBSTANCES IN A PLASTIC STATE
- B29D30/00—Producing pneumatic or solid tyres or parts thereof
- B29D30/06—Pneumatic tyres or parts thereof (e.g. produced by casting, moulding, compression moulding, injection moulding, centrifugal casting)
- B29D30/0601—Vulcanising tyres; Vulcanising presses for tyres
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Abstract
The control system suitable for wash tire mould decorative block that this application embodiment provided, the system including be used for to tire mould carry out discernment location shoot equipment and be connected to shoot equipment for obtain tire mould's location result, and based on location result confirms target cleaning path to and the drive carries the arm that carries laser cleaning head, according to target cleaning path carries out laser cleaning's controlgear. The method can improve the cleaning effect of the tire mold.
Description
Technical Field
The application relates to the technical field of tire mold cleaning, in particular to a control system suitable for cleaning tire mold pattern blocks.
Background
The mold is an important tool required in the tire vulcanization manufacturing process, the mold is inevitably influenced by deposition pollutants generated in the vulcanization process of rubber, additives, release agents and the like in the using process, the repeated use can cause the adhesion of certain pollutants on the surface of the mold, and the problems of low quality and low yield of manufactured tires are caused, so the tire mold needs to be cleaned timely. At present, when cleaning a tire mold, a commonly adopted method comprises manually holding a laser clear head for manual cleaning in a manual mode, or carrying a laser cleaning head by a sixth shaft of a mechanical arm, and moving and cleaning under the condition of a fixed running track. However, the influence of the existing human factors and the influence of the tire mold on the movement track of the mechanical arm, such as the difference of the placement positions and the complexity of the types, all affect the cleaning efficiency of the tire mold, and the problem of poor cleaning effect exists.
Disclosure of Invention
The purpose of the embodiment of the application is based on providing a control system suitable for wash tire mould decorative block, can improve tire mould's cleaning performance.
The embodiment of the application still provides a control system suitable for wash tire mould decorative block, its characterized in that, the system including be used for to tire mould carry out discernment location shoot equipment and be connected to shoot equipment for obtain tire mould's location result, and based on location result confirms target cleaning path, and drive carries the arm of laser cleaning head, according to target cleaning path carries out laser cleaning's control equipment, wherein:
the control equipment is also used for determining a mould coordinate system for reflecting the offset distance of the mould relative to the origin of the mechanical world coordinate system according to the received positioning result;
the control equipment also comprises a measuring scanner which is arranged at the tail end of the mechanical arm and used for measuring the pattern block characteristics covered by the surface of the mold corresponding to the origin of coordinates of the mold system;
and the control equipment is also used for carrying out self-adaptive track planning according to the measured characteristic data of the pattern blocks when the position of the cleaning starting point is determined, so as to obtain a required target cleaning path.
From the above, the control system for cleaning the pattern blocks of the tire mold provided by the embodiment of the application identifies and positions the tire mold through the shooting device, determines the target cleaning path based on the obtained positioning result of the tire mold through the control device connected to the shooting device, drives the mechanical arm carrying the laser cleaning head, and enables the laser cleaning head to realize laser cleaning with different postures and paths through mutual matching among joints of the mechanical arm, thereby avoiding the problems of unstable cleaning effect and low cleaning efficiency caused by the fact that the laser cleaning head is manually held in the prior art of laser cleaning of the tire mold, and the problem that the laser cleaning head carried by the mechanical arm cannot set a repeated cleaning path through a teaching mode due to the reason that the tire mold is placed differently, the types are complex, and the specifications are more, the track can not be set in a teaching mode, the tire mold cleaning requirement cannot be met, and the tire mold cleaning effect is further improved.
Additional features and advantages of the present application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the embodiments of the present application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a schematic structural diagram of a control system suitable for cleaning a tire mold block according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of an overall control suitable for cleaning tire mold blocks;
FIG. 3 is a schematic diagram of determining the position and direction of the origin of a block workpiece coordinate system;
FIG. 4 is another schematic diagram of determining the location and orientation of the origin of a block workpiece coordinate system;
FIG. 5 is a schematic cross-sectional view taken along plane AB;
FIG. 6 is a schematic cross-sectional view of a CD surface;
FIG. 7 is a diagram of a final automatically calculated fit path, using a multi-pass cleaning path as an example.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a control system suitable for cleaning a tire mold block in some embodiments of the present application, where the system 100 includes a shooting device 101 for identifying and positioning a tire mold, and a control device 102 connected to the shooting device 101 for obtaining a positioning result of the tire mold, determining a target cleaning path based on the positioning result, and driving a robot arm 1021 carrying a laser cleaning head 1022 to perform laser cleaning according to the target cleaning path, where:
the control device 102 is further configured to determine a mold coordinate system reflecting an offset distance of the mold with respect to the mechanical world coordinate system origin based on the received positioning result.
The control apparatus 102 further comprises a measurement scanner 1023 at the end of the arm 1021 for measuring pattern block features covered by the mold surface corresponding to the origin of coordinates of the mold system.
And the control equipment is also used for carrying out self-adaptive track planning according to the measured characteristic data of the pattern blocks when the position of the cleaning starting point is determined, so as to obtain a required target cleaning path.
The control system identifies and positions the tire mold through the shooting equipment, determines a target cleaning path based on the obtained positioning result of the tire mold through the control equipment connected to the shooting equipment, drives the mechanical arm with the laser cleaning head, and enables the laser cleaning head to realize laser cleaning with different postures and paths through mutual matching among mechanical arm joints, thereby avoiding the problems of unstable cleaning effect and low cleaning efficiency caused by the fact that the laser cleaning head is manually held by hands in the prior art for cleaning the tire mold, and the problems that the cleaning efficiency is not high due to the fact that the laser cleaning head is carried by the mechanical arm, the repeated cleaning path cannot be set by a teaching mode due to the reason that the tire mold is placed differently, the types are complex and the specifications are more, the path cannot be set by the teaching mode, and the cleaning requirement of the tire mold cannot be met, further improving the cleaning effect of the tire mold.
In one embodiment, referring to fig. 2, the photographing device (i.e., the camera illustrated in fig. 2) is disposed above the target tire mold, and is configured to photograph the tire mold and perform edge feature extraction based on a photographed image of the target tire mold.
Specifically, this application embodiment adopts mems (Micro-Electro-Mechanical System, Micro Electro-Mechanical System) structure light camera to shoot tire mould, wherein, for work efficiency when improving mould material loading, also can adopt the form of multistation (it specifically can be according to fig. 2 further clear and definite, wherein, is equipped with corresponding mould tray in different position department, and the robot is located near the mould tray) to at least two mems structure light cameras (can specifically refer to fig. 2), carry out omnidirectional mould discernment at a plurality of different station setpoint, in order to reduce the latency of arm.
In one embodiment, in order to ensure that the mold can be shot in an all-dimensional manner, the mems structured light camera can be placed above the mold, the mold is shot through the two monocular cameras of the mems structured light camera, and then images of the two cameras are mixed, so that a required target mold image can be obtained.
The shooting equipment is further used for converting the image coordinates corresponding to the determined target edge characteristic points into target workpiece coordinates relative to the origin of the mechanical arm under the condition that the shooting equipment determines that the shooting equipment and the mechanical arm perform hand-eye calibration on the basis of the position deviation value between the tire mold and the origin of the mechanical arm.
Specifically, before coordinate conversion is performed, hand-eye calibration needs to be performed on the mems structured light camera and the mechanical arm. And then shooting a mould image through a mems structured light camera. In order to effectively extract the edge features of the mold, in the current embodiment, a double-monocular algorithm is used to generate a corresponding three-dimensional point cloud model based on the extracted target mold image. And then, extracting the edge feature of the mold based on the model, and determining the target workpiece coordinate relative to the origin of the mechanical arm under the mechanical world coordinate system according to the position deviation value between the tire mold and the origin of the mechanical arm based on the image coordinate corresponding to the extracted target edge feature point.
In one embodiment, reference may be made to fig. 2, and the system further includes a robot control cabinet, a laser cabinet, a safety room, a water cooling machine, and the like, the embodiments of the present application do not limit the operation components involved in the system, and in different embodiments, the involved key components may be adaptively increased or decreased according to the operation requirements.
The embodiment realizes the omnibearing automatic identification and positioning of the tire mold based on the adopted mems structured light camera, and improves the identification accuracy.
In one embodiment, the capturing device is further configured to capture the target object coordinates of each target edge feature point relative to the origin of the robotic arm by:
step A1, the extracted mold edge features are registered with a pre-set adaptive feature template to determine the accuracy of the mold edge features.
Specifically, in the current embodiment, a set of adaptive feature templates based on a dynamic threshold value can be established through an OpenCV algorithm, edge lines of a three-dimensional point cloud model are extracted, and the appearance features and the size of the model are identified through technologies such as denoising and hole filling.
Step a2, when the feature is determined to be accurate, determining the image coordinates of the edge feature points of each target.
Step A3, under the condition that the self and the mechanical arm are determined to be subjected to hand-eye calibration, respectively converting the image coordinates of the edge characteristic points of each target into initial workpiece coordinates relative to the mechanical arm according to a preset coordinate conversion mode.
Specifically, when a plurality of molds need to be cleaned, it can be considered to sequence all the molds from the image in an optimal route (for example, to connect all the paths needing to be cleaned in series with the least empty route). In addition, for the blocks covered on the mold, one vertex angle of each block can be used as the origin position of the workpiece coordinate system, and two adjacent vertex angles are respectively a point in the X + direction and a point in the Y + direction, so as to determine the workpiece coordinate system direction of the blocks (as shown in fig. 3-4). And aiming at the side plates of the die, determining the direction of the workpiece coordinate system of the side plates by taking the circle center of each side plate as the original point position of the workpiece coordinate system, and taking the machining direction of the mechanical arm as the X + direction and the upper direction as the Z + direction.
Step a4, based on the initial workpiece coordinates, target workpiece coordinates of each target edge feature point with respect to the origin of the robot arm are determined based on the position deviation value between the tire mold and the origin of the robot arm.
In one embodiment, the shooting device shoots the mould through a plurality of monocular cameras preset inside.
Specifically, the number of monocular cameras may be 2 in general, and of course, more values may be selected. In the current embodiment, when all molds are photographed by monocular cameras, images photographed by the cameras need to be fused, and a three-dimensional reconstruction algorithm (for example, an OpenCV algorithm) is used to perform three-dimensional reconstruction on the currently fused images, so as to obtain a required three-dimensional point cloud model.
The shooting equipment is also used for mixing a plurality of die images shot by the monocular cameras through built-in image processing equipment to obtain a required target die image.
Specifically, in the present embodiment, image fusion may be performed on a plurality of mold images captured by the monocular cameras to obtain a desired target mold image. It should be noted that image fusion refers to that image data about the same target collected by multiple source channels is processed by image processing and computer technology, etc., so as to extract favorable information in each channel to the maximum extent, and finally, the favorable information is synthesized into a high-quality image, so that the utilization rate of image information is increased, the computer interpretation precision and reliability are improved, the spatial resolution and spectral resolution of the original image are improved, and the monitoring is facilitated.
Generally, image fusion is divided into three levels from low to high: data level fusion, feature level fusion and decision level fusion. The data-level fusion is also called pixel-level fusion, which refers to a process of directly processing data acquired by a sensor to obtain a fusion image, is the basis of high-level image fusion, and is also one of the key points of the current image fusion research. The advantage of this fusion is to keep as much raw data as possible on site, providing subtle information that other fusion layers cannot provide, where:
(1) the pixel level fusion has a space domain algorithm and a transform domain algorithm, and the space domain algorithm has various fusion rule methods, such as a logic filtering method, a gray weighted average method, a contrast modulation method and the like; the transformation domain also has a pyramid decomposition fusion method and a wavelet transformation method. The wavelet transform is currently the most important and most common method.
(2) In feature level fusion, it is ensured that different images contain informative features, such as infrared light for the characterization of the heat of the object, visible light for the characterization of the brightness of the object, etc.
(3) The decision-level fusion mainly depends on subjective requirements, and also has some rules, such as Bayes method, D-S evidence method, voting method and the like.
In one embodiment, the fusion algorithm often incorporates the mean, entropy, standard deviation, mean gradient of the image; the average gradient reflects the contrast of the tiny details and the texture change characteristics in the image, and also reflects the definition of the image. There are two problems with image fusion at present: selecting the optimal wavelet basis function and the optimal wavelet decomposition layer number.
The shooting equipment is also used for carrying out three-dimensional reconstruction on the basis of the target mould image through built-in image processing equipment to obtain a corresponding three-dimensional point cloud model.
The shooting device is further used for extracting edge lines of the three-dimensional point cloud model through built-in image processing equipment, and processing the edge lines through a preset line processing mode to obtain mold edge characteristics used for determining the appearance characteristics and the size of the mold, wherein the line processing mode comprises at least one of denoising and hole filling.
Specifically, three-dimensional reconstruction refers to establishing a mathematical model suitable for computer representation and processing on a three-dimensional object, which is the basis for processing, operating and analyzing the properties of the three-dimensional object in a computer environment, and is also a key technology for establishing virtual reality expressing an objective world in a computer.
In one embodiment, the three-dimensional reconstruction includes:
in step C1, image acquisition, that is, acquiring a two-dimensional image of a three-dimensional object by using a video camera (that is, the steps performed by the shooting device in the embodiment of the present application), wherein the lighting conditions, the geometric characteristics of the camera, and the like have a great influence on the subsequent image processing, and therefore, the environment around the shooting object needs to be strictly controlled when shooting is performed.
And step C2, calibrating the camera, namely establishing an effective imaging model through camera calibration, wherein the internal and external parameters of the camera need to be solved, so that the three-dimensional point coordinates in the space can be obtained by combining the matching result of the image, and the purpose of three-dimensional reconstruction is achieved.
And step C3, extracting features, wherein the features mainly comprise feature points, feature lines and regions. In most cases, feature points are used as matching primitives, wherein the form of feature point extraction is closely related to the matching strategy, so that when extracting feature points, it is necessary to determine which matching method is used first, and then extract feature points in a targeted manner.
Step C4, stereo matching, which refers to establishing a correspondence between image pairs according to the extracted features, i.e. mapping the imaged points of the same physical space point in two different images one to one. In the matching, attention is paid to interference of factors in the scene, such as lighting conditions, noise interference, geometric distortion of the scene, surface physical characteristics, camera characteristics and other variable factors.
And step C5, recovering the three-dimensional scene information by combining the internal and external parameters calibrated by the camera with a relatively accurate matching result. Because the three-dimensional reconstruction precision is influenced by factors such as matching precision, errors of internal and external parameters of a camera and the like, the previous steps are required to be carried out, so that the precision of each link is high, the error is small, and a relatively precise stereoscopic vision system can be designed.
In one embodiment, the block characteristic data includes at least one of a block white strip width, a block cavity depth, and a block white strip height relative to the pallet.
In one embodiment, the control device is further used for determining the origin of the block workpiece coordinate system as the cleaning starting point position by utilizing the block elevation direction symmetry, the two opposite surfaces of the block are the same and the block thickness direction caliber curve is an arc curve.
In one embodiment, the control device is further configured to perform adaptive trajectory planning by:
and step B1, setting two planes of a section of white strip concave circular arc with consistent radian on the side surface of the die as an A surface and a B surface, and setting a section of concave curved surface with the side surface of the die communicated with the middle equal-height rib part as a C surface and a D surface, wherein the connecting surface of the A surface and the B surface is formed by a section of concave circular arc, and the connecting surface of the C surface and the D surface is formed by a section of concave circular arc and an isosceles trapezoid line segment formed by connecting an H point, a J point, a K point, an L point, an M point and an N point which are sequentially connected.
Specifically, in general, two pairs of sides between four sides of the block are parallel, and the sections of the two parallel sides are consistent. Currently, referring to fig. 5, two planes of a concave arc with a consistent radian are designated as a plane a and a plane B. Referring to fig. 6, the side surfaces are a section of concave curved surface which is communicated with the middle equal-height ribs, namely the C surface and the D surface.
As shown in fig. 5, the AB plane is a circular arc of 45 ° or 47 ° (note that, the circular arc angle is generally 45 °) formed by eight equal parts of a full circle, the circular arc radius is the outer radius of the side plate, the start point and the end point of the circular arc are at the same height when the side plate is placed still, and the chord length connecting the start point and the end point is the coordinate difference of two points used for identifying and positioning. Wherein:
(1) the maximum bow length formula is:
G max R-R cos (22.5), R is the radius of the arc.
(2) The bow length formula for any chord length is:
In the above, the path locus moves from C to D or D to C, and at any chord length L corresponding to the AB surface coordinate θ Then, remove L θ 0 or L θ ＝L 0 In addition, the amplitude of the Z-axis coordinate value is reduced to H under the influence of the AB surface θ 。
Step B2, in the path from surface A to surface B, the coordinate formula P on the path AB Can be expressed as:
wherein, P H All points in the Y direction where the A to B surfaces pass through the point H, P J P is all points in the Y direction from the A surface to the B surface through the J point K All points on the surface A to B in the Y direction passing through the point K, X is the X coordinate value on the current point, Y is the Y coordinate value on the current point, Z is the Z coordinate value on the current point, n is the ratio of the length of the pattern block in the Y direction to the laser line width, D is the laser line width length, D is the length of the laser line width 0 For decreasing the amplitude depth of the pattern block cavity H 0 Arc pattern block with reduced width and length, J X Length of a line from H point to J point in X direction, K X Is the length of a line from H point to K point in the X direction, L X Length of a line from H point to L point in X direction, M X Length of a line from H point to M point in X direction, N X The length of a line from a point H to a point N in the X direction is shown, and S is the total length of the pattern block in the X direction;
specifically, referring to fig. 5-6, in the path from the a plane to the B plane, the chord length L of the focus is θ The additional reduction of amplitude H is needed to pass through the point H, the point J, the point K, the point L, the point M and the point N θ When passing through the points K and L, an extra reduction D is required 0 Then the coordinate formula on the path can refer to the above formula (1).
Step B3, in the path from C surface to D surface, the coordinate formula P on the path CD Can be expressed as:
wherein,
is a chord length L θ Approaches 1/2 total chord length L from 0 0 Then, all points in the X direction from the point H to all points in the X direction from the point J on the C surface to the D surface;
is a chord length L θ Approaches 1/2 total chord length L from 0 0 Then, all points in the X direction from the J point to all points in the X direction from the K point from the C surface to the D surface;
is a chord length L θ Equal to 1/2 total chord length L 0 Then, all points from the C surface to the D surface in the X direction where the K point is located to all points in the X direction where the L point is located;
is a chord length L θ From 1/2 total chord length L 0 When the total chord length L is approached, all points in the X direction where the L point is located from the C surface to the D surface to all points in the X direction where the M point is located;
is a chord length L θ From 1/2 total chord length L 0 Approaching the total chord length L, all points in the X direction from the M point to all points in the X direction from the C surface to the D surface.
Specifically, as shown in fig. 6, the CD surface is a cross section of eight equal parts, the data is based on the width of the white stripes, the tread width, and the width reduction at the rib part is D 0 . In the path from C surface to D surface, the position X of the focus passes through the chord length L θ The time-required amplitude reduction H θ Additional amplitude reduction D is required when the amplitude is between KL 0 Then the coordinate formula on the path can refer to the above formula (2).
Step B4, binding P AB And P CD And carrying out self-adaptive trajectory planning.
Specifically, taking the total of the cleaning paths of multiple passes back and forth in the AB and CD directions as an example, the fitting path automatically calculated by the final control device is shown in fig. 7.
In one embodiment, the control device is further configured to divide the length of the difference between the inner radius and the outer radius of the side plate of the mold by using the middle point of the line width of the laser as a focus and the line width of the laser as a cleaning width, and determine the number of paths of the side plate according to the number of the division, wherein the line width value of the preset multiple is added to the inner radius value, and the circular ring part of the side plate to be cleaned is gradually cleaned in a circular arc fitting manner.
In one embodiment, the control device is further configured to segment the corresponding arc curve according to the currently set chord length from the arc starting point by taking the laser line width as the chord length, and determine the number of paths in the cavity direction according to the number of the segmentation; the control equipment is also used for determining the position of the lowest point of the cavity curve while determining the number of paths in the cavity direction, and calculating the bow height corresponding to any chord length point from the starting point to the end point according to the position of the lowest point of the cavity curve, so as to fit the descending amplitude of all circular arcs.
In one embodiment, the control device is further configured to segment the cavity according to a currently set chord length from a starting point of the cavity by using the laser line width as the chord length, and determine the number of paths in the arc direction according to the number of the segments; and the control equipment is also used for determining the height of the lowest steel bar surface when determining the number of paths in the arc direction, and fitting the descending amplitude of all the cavities according to the planned path positions.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A control system suitable for cleaning tire mold pattern blocks, which is characterized by comprising a shooting device used for identifying and positioning tire molds and a control device connected to the shooting device, wherein the shooting device is used for obtaining positioning results of the tire molds, determining a target cleaning path based on the positioning results, driving a mechanical arm carrying a laser cleaning head, and performing laser cleaning according to the target cleaning path, wherein:
the control equipment is also used for determining a mould coordinate system for reflecting the offset distance of the mould relative to the origin of the mechanical world coordinate system according to the received positioning result;
the control equipment also comprises a measuring scanner which is arranged at the tail end of the mechanical arm and used for measuring the pattern block characteristics covered by the surface of the mold corresponding to the origin of coordinates of the mold system;
and the control equipment is also used for carrying out self-adaptive track planning according to the measured characteristic data of the pattern blocks when the position of the cleaning starting point is determined, so as to obtain a required target cleaning path.
2. The system according to claim 1, wherein the shooting device is arranged above the target tire mold and used for shooting the tire mold and carrying out edge feature extraction based on the shot target mold image;
the shooting equipment is further used for converting image coordinates corresponding to the determined target edge feature points into target workpiece coordinates relative to the origin of the mechanical arm under the condition that the shooting equipment determines that the shooting equipment and the mechanical arm are calibrated by hands and eyes on the basis of the position deviation value between the tire mold and the origin of the mechanical arm.
3. The system of claim 2, wherein the capture device is further configured to capture the target object coordinates of each target edge feature point relative to the robot arm origin by:
registering the extracted edge features of the mold with a preset self-adaptive feature template to determine the accuracy of the edge features of the mold;
under the condition that the determined features are accurate, determining the image coordinates of the edge feature points of each target;
under the condition that the self-body and the mechanical arm are subjected to hand-eye calibration, respectively converting the image coordinates of the edge characteristic points of each target into initial workpiece coordinates relative to the mechanical arm according to a preset coordinate conversion mode;
and on the basis of the initial workpiece coordinates, determining target workpiece coordinates of each target edge feature point relative to the original point of the mechanical arm based on the position deviation value between the tire mold and the original point of the mechanical arm.
4. The system according to claim 2, wherein the photographing device performs mold photographing through a plurality of monocular cameras preset inside;
the shooting equipment is also used for mixing a plurality of die images shot by the monocular cameras through built-in image processing equipment to obtain a required target die image;
the shooting equipment is also used for carrying out three-dimensional reconstruction on the basis of the target mould image through built-in image processing equipment to obtain a corresponding three-dimensional point cloud model;
the shooting equipment is further used for extracting edge lines of the three-dimensional point cloud model through built-in image processing equipment, and processing the edge lines through a preset line processing mode to obtain mold edge characteristics used for determining mold appearance characteristics and dimensions, wherein the line processing mode comprises at least one of denoising and hole filling.
5. The system of claim 1, wherein the block characterization data includes at least one of a block white strip width, a block cavity depth, and a block white strip relative to a pallet height.
6. The system of claim 5, wherein the control device is further configured to determine the block workpiece coordinate system origin as the cleaning start point position using block elevation direction symmetry, the same opposing faces of the block, and the block thickness direction bore curve being a circular arc curve.
7. The system of claim 6, wherein the control device is further configured to perform adaptive trajectory planning by:
setting two planes of a section of white strip concave arc with consistent radian on the side surface of the die as an A surface and a B surface, and setting a section of concave curved surface of the side surface of the die, which is communicated with the middle part of the equal-height rib part, as a C surface and a D surface, wherein the connection surface of the A surface and the B surface is formed by a concave section of arc, and the connection surface of the C surface and the D surface is formed by a concave section of isosceles trapezoid line segments formed by connecting an H point, a J point, a K point, an L point, an M point and an N point in sequence;
in the path from the A surface to the B surface, the coordinate formula P on the path AB Can be expressed as:
wherein, P H P is all points in the Y direction from the A surface to the B surface through the H point J All points in the Y direction where the A to B surfaces pass through the J point, P K All points on the surface A to B in the Y direction passing through the point K, X is the X coordinate value on the current point, Y is the Y coordinate value on the current point, Z is the Z coordinate value on the current point, n is the ratio of the length of the pattern block in the Y direction to the laser line width, D is the laser line width length, D is the length of the laser line width 0 Decreasing the depth of pattern block cavity, H 0 Arc pattern block with reduced width and length, J X Length of a line from H point to J point in X direction, K X Is the length of a line from H point to K point in the X direction, L X Length of line from point H to point L in X direction, M X Length of line from point H to point M in X direction, N X The length of a line from a point H to a point N in the X direction is shown, and S is the total length of the pattern block in the X direction;
in the path from C surface to D surface, coordinate formula P on the path CD Can be expressed as:
wherein,
is a chord length L θ Approaches 1/2 total chord length L from 0 0 Then, all points in the X direction from the point H to all points in the X direction from the point J on the C surface to the D surface;
is a chord length L θ Approaches 1/2 total chord length L from 0 0 Then, all points in the X direction from the J point to all points in the X direction from the K point from the C surface to the D surface;
is a chord length L θ Equal to 1/2 total chord length L 0 Then, all points from the C surface to the D surface in the X direction where the K point is located to all points in the X direction where the L point is located;
is a chord length L θ From 1/2 total chord length L 0 When the total chord length L is approached, all points in the X direction where the L point is located from the C surface to the D surface are located from all points in the X direction where the M point is located;
is a chord length L θ From 1/2 total chord length L 0 Approaching to the total chord length L, from all points in the X direction where the M point is located to all points in the X direction where the N point is located from the C surface to the D surface;
binding of P AB And P CD And carrying out self-adaptive trajectory planning.
8. The system of claim 7, wherein the control device is further configured to segment the length of the difference between the inside and outside radii of the side plate of the mold with the middle point of the laser line width as a focus and the laser line width as a cleaning width, and determine the number of paths of the side plate according to the number of the segments, wherein the circular ring portion of the side plate to be cleaned is gradually cleaned in a manner of circular arc fitting by adding the line width value of the preset multiple to the inside radius value.
9. The system of claim 7, wherein the control device is further configured to segment the corresponding circular arc curve according to the currently set chord length from the circular arc starting point by taking the laser line width as the chord length, and determine the number of paths in the cavity direction according to the number of segments;
the control equipment is also used for determining the position of the lowest point of the cavity curve while determining the number of paths in the cavity direction, and calculating the bow height corresponding to any chord length point from the starting point to the end point according to the position of the lowest point of the cavity curve, so as to fit the descending amplitude of all circular arcs.
10. The system of claim 7, wherein the control device is further configured to segment the cavity from the start point of the cavity according to the currently set chord length by taking the laser line width as the chord length, and determine the number of paths in the arc direction according to the number of segments;
and the control equipment is also used for determining the height of the lowest steel bar surface when determining the number of paths in the arc direction, and fitting the descending amplitude of all the cavities according to the planned path positions.
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